運行ROS例程（turtlesim）
１）安裝turtlesim包
sudo apt-get install ros-kinetic-turtlesim
２）運行管理器節(jié)點
roscore
３）運行turtlesim仿真器節(jié)點
rosrun turtlesim turtlesim_node
４）運行鍵盤控制節(jié)點
rosrun turtlesim turtle_teleop_key

=================================================

創(chuàng)建工作空間
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_init_workspace

cd ~/catkin_ws
catkin_make? //編譯后目錄會自動生成build和devel文件夾

source devel/setup.bash
echo $ROS_PACKAGE_PATH

//使變量終身生效方式
echo "source/WORKSPACE/devel/setup.sh" >> ~/.bashrc

===================================================

創(chuàng)建功能包
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
eg:
cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.sh

=====================================================

查看ROS相關(guān)環(huán)境變量
env | grep ros

=====================================================

查看節(jié)點關(guān)系
rqt_graph

轉(zhuǎn)載于:https://www.cnblogs.com/rohens-hbg/p/10797337.html

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